A Smith-predictor-based generalised predictive controller for mobile robot path-tracking |
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Affiliation: | 1. Department of Chemical Engineering & Materials Science, University of California, Davis, CA 95616 USA;1. School of Electrical and Control Engineering, Xi''an University of Science and Technology, Xi''an 710071, China;2. Key Laboratory of Advanced Control and Optimization for Chemical Processes, Ministry of Education, East China University of Science and Technology, Shanghai 200237, China |
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Abstract: | This paper shows how to improve the robustness of mobile robot path tracking when predictive control algorithms are used. When uncertainties in a mobile robot are considered, it is shown how the classical generalised predictive controller (GPC) may lead to an unstable behaviour of the mobile robot. The equivalence between the GPC and a structure composed by an optimal predictor and a classical controller is given, and it is shown that use of a Smith predictor instead of an optimal predictor increases the robustness of the system. A new strategy, the Smith-predictor-based GPC, is proposed. Experimental tests carried out on a LABMATE mobile robot validate the performance of the proposed controller. |
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